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Rain and snow often lead to slippery and low adhesion road surface, and the bottleneck of vehicle braking technology caused by it needs to be broken through. Among them, due to the differences in road adhesion in complex open-side road conditions, higher stability requirements are put forward for emergency braking control of multi-axle commercial vehicles. In order to improve the braking efficiency, the model free adaptive control (MFAC) algorithm is used to control the slip rate of each tire near the ideal value, and the electric and hydraulic coupling braking torque distribution strategy is set for distributed drive technology. In order to reduce the lateral errors in the braking process, PID-sliding mode observer (PID-SMO) is used to accurately observe the longitudinal force of each wheel, and the additional yaw torque caused by the longitudinal force difference is compensated by the middle and rear axle assisted steering. Through the joint simulation analysis, the emergency braking control strategy based on MFAC reduces the braking distance and avoids the slip rate fluctuation at the end of the braking period, ensuring the consistency of the wheel speed. The intervention of middle and rear axle steering greatly improves the lateral stability of the vehicle during braking.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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